/* SerialSuperBala.hh -- Serial para controlar o Super Bala
 *
 * Copyright (C) 2008, Diogo F. S. Ramos <diogo.ramos@usp.br>
 * GEAR - Grupo de Estudos Avançados em Robótica
 * <http://www.sel.eesc.usp.br/gear>
 *
 * This file is part of GEARMedula.
 * 
 * GEARMedula is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published
 * by the Free Software Foundation, version 3 of the License.
 * 
 * GEARMedula is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

#ifndef   	SERIALSUPERBALA_HH_
#define   	SERIALSUPERBALA_HH_

#include <termios.h>

class XError;
class Serial;
class Matrix;

/** Caminho padrão de serial */
#define SERIAL_DEFAULT_PATH "/dev/ttyS0"


class SerialSuperBala: public Serial{

    // Nível de chute
    enum KickLvl
    {
        KICK_STRONG,
        KICK_PASS
    };
    

    std::string path_;
    int fd_;
    struct termios options_;
    int speed_;

    int command_size_;
    unsigned char * command_;
    int command_repeat_;

    unsigned char * conf_;
    unsigned char * kick_lvl_;
    unsigned char * motor_1_;
    unsigned char * motor_2_;
    unsigned char * motor_3_;

    struct timespec delay_;
    struct timespec sobrando_;

    Matrix * matrix_conv_;
    Matrix * matrix_vels_;
    Matrix * matrix_motor_vels_;

    XError xerror;

    // Funções
    void sendCommand();
    void motorSetDirection( unsigned char * conf, int motor, int invert );
    int getMsAsPWM( const float vel_ms );
    unsigned char getKickLvl( const enum KickLvl klvl );

    // Constantes    
    static const int kBaudRate = B19200;
    static const int kDelayNanosec = 10000;
    static const int kCommandRepeat = 1;
    static const int kCommandSize = 8;
public:
    static const unsigned int kEndLength = 3;

    SerialSuperBala();
    ~SerialSuperBala();
    int Init( const std::string end, const std::string serial_path );
    void robotKick( const int nivel );
    void robotDribbleEnable( const int enable );
    void robotSetVelMotorsPWM( const unsigned char pwm1, const unsigned char pwm2, const unsigned char pwm3 );
    void robotSetVel( const float vx, const float vy, const float va );
};


#endif	    /* !SERIALSUPERBALA_HH_ */
